CN101486191B - Displacement under-actuated robot hand apparatus - Google Patents

Displacement under-actuated robot hand apparatus Download PDF

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Publication number
CN101486191B
CN101486191B CN2009100094760A CN200910009476A CN101486191B CN 101486191 B CN101486191 B CN 101486191B CN 2009100094760 A CN2009100094760 A CN 2009100094760A CN 200910009476 A CN200910009476 A CN 200910009476A CN 101486191 B CN101486191 B CN 101486191B
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CN
China
Prior art keywords
forefinger
thumb
finger
joint shaft
transmission
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Expired - Fee Related
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CN2009100094760A
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Chinese (zh)
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CN101486191A (en
Inventor
张文增
车德梦
陈强
都东
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WUXI RESEARCH INSTITUTE OF APPLIED TECHNOLOGIES, TSINGHUA UNIVERSITY
Tsinghua University
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Tsinghua University
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Publication of CN101486191A publication Critical patent/CN101486191A/en
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Publication of CN101486191B publication Critical patent/CN101486191B/en
Expired - Fee Related legal-status Critical Current
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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • B25J15/0009Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand

Abstract

The invention discloses a position-variable under-actuated robot hand device, which belongs to the technical field of anthropomorphic robots. The device has five independent control fingers and 15 joint degrees of freedom and is driven by 10 motors, wherein the middle finger, the third finger, the litter finger and the forefinger have the same structure and adopt double motor-driven three-joint rotation, and the thumb is capable of swinging laterally and adopts double motor-driven three-joint rotation. The structures of the fingers are similar and realize the initial configuration-changing self-adaptive grabbing functions of the fingers by using the motors, a transmission mechanism, a flexible piece and a spring piece, namely, the finger bends the middle joint before grabbing to assume a desirable preparation gesture to adapt to the size of an object automatically during grabbing. Through the adjustment of the initial configurations of the fingers, the grabbing stability is improved greatly. The device is compact in structure, high in integration level, similar to human hand in appearance, dimension, shape and motion, capable of stably grabbing and automatically adapting to objects with different shapes and dimensions, and applicable to the anthropomorphic robots.

Description

Displacement under-actuated robot hand apparatus
Technical field
The invention belongs to anthropomorphic robot's technical field, particularly a kind of structural design of displacement under-actuated robot hand apparatus.
Background technology
People in research to intelligent robot, the tidemark of anthropomorphic robot as robot research, also always the behavior that realizes type people as the target of dreaming of.With the mankind seemingly, most functions of anthropomorphic robot will realize through operation by human hand, thereby hand structure is anthropomorphic robot's important component part, its design is one of key technology of anthropomorphic robot.Over nearly 30 years, Dextrous Hand research has obtained great successes.Dextrous Hand has 3~5 fingers, and each points 2~4 joint freedom degrees, and most joints are the active joint that motor, air muscle, hydraulic pressure etc. drive.Dextrous Hand can be made the exercises of staff, comprises grasping and operate two kinds of actions.The Hitachi hand of for example abroad developing, Utah/MIT hand, Stanford/JPL hand, the C5 of Shadow company hand, DLR hand and Robonaut hand, the HIT Dextrous Hand of domestic Harbin Institute of Technology research and development and the BH Dextrous Hand of Beijing Institute of Aeronautics research and development.The major advantage of Dextrous Hand is that the finger free degree is many; Can be comparatively initiatively grasping objects flexibly; And good grasp stability arranged; Its deficiency is that the shape and size to object adapt to (self-adapting grasping) automatically in the time of can not realizing grasping objects, causes sensing and control system requirements highly, and system complex, cost is high, reliability is low.
Under-driving robot finger can overcome the some shortcomings of the pure active drive multi-joint finger of above-mentioned Dextrous Hand, owes the machine driven staff as main design realization height and has been subjected to increasing attention.The advantage of activation lacking mechanical finger is to adapt to body form and size automatically, reaches the purpose of self-adapting grasping, has reduced the requirement to sensing and control system.
But the deficiency of activation lacking mechanical finger is: its finger initial configuration is fixing (stretches or be certain angle of bend), and this and staff Grasp Modes have more different, personalize inadequately, are not easy to the object of some size, shape is stablized extracting.During people's hand grip different size object, finger just need not bend to certain angle in advance before also touching object, only in this way just can better grasp.For example, before staff was gripping small-size object, four referred to that (being forefinger, middle finger, the third finger and little finger of toe) middle joint is crooked in advance than wide-angle, refer to that up to four end and thumb end are close, and grasp afterwards again.And finger crooked angle be to need to regulate for the object of different size.And traditional under-actuated finger cannot be implemented in the rotation of touching joint in the middle of this before the object, thereby be difficult to realize personalizing more grasping movement and grabbing object effect more stably.In addition, do not grab object when having and carry out simple clenching fist during action, whole finger can only be straight configuration and rotate around nearly joint shaft, and this and can moving around clenching fist of middle arthrogryposis of staff greatly differ from each other, and have influenced the action effect that personalizes of robot.
Existing a kind of belt wheel changing to holding power under-driven modularization anthropomorphic robot multi-finger hand device like Chinese invention patent CN101214653A, has 5 independently-controlled fingers, 15 joint freedom degrees, and initiatively joints and 9 owe to drive the joint to comprise 6; Respectively owe to drive the joint and all adopt the identical a kind of modular construction of structure, in motor, transmission mechanism are hidden and started with.Each finger of this device is the belt wheel under-actuated finger.With the thumb is example; Because the effect of contraction of spring makes middle finger section and the terminal section of finger before not touching object, keep fixing straight configuration (angle between middle finger section and the terminal section of finger is the straight angle); Have only when middle finger section contact object is stopped; The end section of finger is just rotated with joint shaft far away, realizes finger bend envelope institute grasping objects.The weak point of this device is that the middle finger section and the end section of finger of each finger can only be straight configuration, rotate around nearly joint shaft with an integral body, have influenced grip before the contact object.
Traditional robot device with rigidity finger is also arranged; Finger configuration with stationary curved; The most common finger gesture when they have imitated human grasping objects; But the finger bend state of this type device is to fix to change angle of bend, and the joint freedom degrees number is very few, can not adapt to the extracting demand of different size object.
Summary of the invention
The objective of the invention is weak point to prior art; A kind of displacement under-actuated robot hand apparatus is provided; It can free adjustment the original state in joint in the middle of each finger, have the grip of automatic adaptation body form, size when guaranteeing grasping objects simultaneously.This device utilizes motor to regulate owing to drive the hand initial position; Improve manipulator and grasped the stability of different size, shaped objects and the action effect that personalizes; Realize the flexible self-adapting grasping of robot multi-finger hand under low control system requirements; Device profile and people's palmistry seemingly is fit to be installed in the anthropomorphic robot and goes up use.
Technical scheme of the present invention is following:
A kind of displacement under-actuated robot hand apparatus of the present invention comprises thumb, forefinger, middle finger, the third finger, little finger of toe and palm; It is characterized in that:
Described thumb comprises thumb pedestal, thumb first motor, the nearly joint shaft of thumb, thumb middle finger section, thumb joint shaft far away, the thumb end section of finger, thumb first transmission mechanism, thumb second transmission mechanism and the thumb first spring spare; Described thumb first transmission mechanism comprises thumb first gear and thumb second gear; Described thumb first motor and thumb first gear are affixed; Thumb first gear formative gear drive connection that is meshed with thumb second gear, thumb second gear is fixed on the nearly joint shaft of thumb; Described thumb second transmission mechanism comprises thumb driving wheel, thumb driving member and thumb driven pulley; Described thumb also comprises thumb second motor, thumb the 3rd transmission mechanism, thumb flexible piece and the thumb second spring spare;
Described thumb first motor and thumb pedestal are affixed, and the power shaft of thumb first transmission mechanism links to each other with thumb first motor output shaft, and the output shaft of thumb first transmission mechanism links to each other with the nearly joint shaft of thumb; The nearly joint shaft of described thumb is set in the thumb pedestal, and the thumb middle finger section is socketed on the nearly joint shaft of thumb, and thumb joint shaft far away is set in the thumb middle finger section, and the thumb end section of finger is fixed on the thumb joint shaft far away; Nearly joint shaft of thumb and thumb joint shaft far away are parallel to each other; The power shaft of described thumb second transmission mechanism links to each other with the nearly joint shaft of thumb, and the output shaft of thumb second transmission mechanism links to each other with thumb joint shaft far away, and the nearly joint shaft of thumb is identical with the rotation direction of thumb joint shaft far away; The two ends of the described thumb first spring spare connect thumb middle finger section and the thumb end section of finger respectively;
Described thumb driving wheel links to each other with the nearly joint shaft of thumb, and the thumb driven pulley links to each other with thumb joint shaft far away, and the thumb driving member connects thumb driving wheel and thumb driven pulley; Described thumb second motor and thumb middle finger section are affixed; The input of thumb the 3rd transmission mechanism links to each other with the output of thumb second motor; One end of thumb flexible piece links to each other with the output of thumb the 3rd transmission mechanism; The other end of thumb flexible piece connects the thumb end section of finger, the described thumb second spring spare as connector be installed in series from thumb nearly joint shaft to thumb second transmission mechanism again to the driving-chain of thumb joint shaft far away;
Described forefinger comprises joint shaft, forefinger second middle finger section, forefinger joint shaft far away, the forefinger end section of finger, forefinger first transmission mechanism, forefinger second transmission mechanism, forefinger the 3rd transmission mechanism, the forefinger first spring spare and the forefinger second spring spare in forefinger pedestal, forefinger first motor, the nearly joint shaft of forefinger, forefinger first middle finger section, the forefinger; Described forefinger second transmission mechanism comprises forefinger first driving wheel, forefinger first driving member and forefinger first driven pulley; Described forefinger the 3rd transmission mechanism comprises forefinger second driving wheel, forefinger second driving member and forefinger second driven pulley; Described forefinger also comprises forefinger second motor, forefinger the 4th transmission mechanism, forefinger flexible piece and forefinger the 3rd spring spare; Described forefinger first transmission mechanism comprises forefinger first gear and forefinger second gear;
Described forefinger first motor and forefinger pedestal are affixed, and the power shaft of described forefinger first transmission mechanism links to each other with forefinger first motor output shaft, and the output shaft of forefinger first transmission mechanism links to each other with the nearly joint shaft of forefinger; The nearly joint shaft of described forefinger is set in the forefinger pedestal; Forefinger first middle finger section is socketed on the nearly joint shaft of forefinger; Joint shaft is set in forefinger first middle finger section in the forefinger; Forefinger second middle finger section is set in the forefinger on the joint shaft, and forefinger joint shaft far away is set in forefinger second middle finger section, and the forefinger end section of finger is fixed on the forefinger joint shaft far away; Joint shaft and forefinger joint shaft far away are parallel to each other in the nearly joint shaft of forefinger, the forefinger; The power shaft of described forefinger second transmission mechanism links to each other with the nearly joint shaft of forefinger, and joint shaft links to each other in the output shaft of forefinger second transmission mechanism and the forefinger; Joint shaft links to each other in the power shaft of described forefinger the 3rd transmission mechanism and the forefinger, and the output shaft of forefinger the 3rd transmission mechanism links to each other with forefinger joint shaft far away, and joint shaft is identical with the rotation direction of forefinger joint shaft far away in the nearly joint shaft of forefinger, the forefinger; The two ends of the described forefinger first spring spare connect forefinger first middle finger section and forefinger second middle finger section respectively, and the two ends of the forefinger second spring spare connect forefinger second middle finger section and the forefinger end section of finger respectively;
Described forefinger first motor and forefinger first gear are affixed, forefinger first gear formative gear drive connection that is meshed with forefinger second gear, and forefinger second gear is fixed on the nearly joint shaft of forefinger; Described forefinger first driving wheel links to each other with the nearly joint shaft of forefinger, and joint shaft links to each other in forefinger first driven pulley and the forefinger, and forefinger first driving member connects forefinger first driving wheel and forefinger first driven pulley; Joint shaft links to each other in described forefinger second driving wheel and the forefinger, and forefinger second driven pulley links to each other with forefinger joint shaft far away, and forefinger second driving member connects forefinger second driving wheel and forefinger second driven pulley; Described forefinger second motor and forefinger first middle finger section are affixed; The input of forefinger the 4th transmission mechanism links to each other with the output of forefinger second motor; One end of forefinger flexible piece links to each other with the output of forefinger the 4th transmission mechanism; The other end of forefinger flexible piece connects forefinger second driving wheel, described forefinger the 3rd spring spare as connector be installed in series from forefinger nearly joint shaft to forefinger second transmission mechanism again to the forefinger in the driving-chain of joint shaft;
Described middle finger, the third finger, little finger of toe are identical with the forefinger structure, and described palm comprises palm skeleton, palm motor, palm first gear, palm second gear, palm joint shaft; Described palm motor and palm skeleton are affixed; The output shaft of palm motor and palm first gear are affixed; Palm first gear and palm second gears engaged; Palm second gear is fixed on the palm joint shaft, and the palm joint shaft is set in the palm skeleton, and the thumb pedestal is fixed on the palm joint shaft; Described forefinger is affixed through forefinger pedestal and palm skeleton, and described middle finger, the third finger, little finger of toe are affixed with the palm skeleton respectively, and connected mode is consistent with forefinger; Each finger of relative position imitation staff between described forefinger, middle finger, the third finger, little finger of toe, thumb and the palm and the relative position of palm.
Displacement under-actuated robot hand apparatus of the present invention; It is characterized in that: described thumb driving member adopts flat rubber belting, cog belt, tooth bar, tendon rope, steel wire or chain; Described thumb driving wheel adopts belt wheel, gear, rope sheave or sprocket wheel; Described thumb driven pulley adopts belt wheel, gear, rope sheave or sprocket wheel, can cooperate the formation drive connection between described thumb driving member, thumb driving wheel and the thumb driven pulley three.
Displacement under-actuated robot hand apparatus of the present invention; It is characterized in that: described forefinger first driving member adopts flat rubber belting, cog belt, tooth bar, tendon rope, steel wire or chain; Described forefinger first driving wheel adopts belt wheel, gear, rope sheave or sprocket wheel; Described forefinger first driven pulley adopts belt wheel, gear, rope sheave or sprocket wheel, can cooperate the formation drive connection between described forefinger first driving member, forefinger first driving wheel and the forefinger first driven pulley three.
Displacement under-actuated robot hand apparatus of the present invention; It is characterized in that: described forefinger second driving member adopts flat rubber belting, cog belt, tooth bar, tendon rope, steel wire or chain; Described forefinger second driving wheel adopts belt wheel, gear, rope sheave or sprocket wheel; Described forefinger second driven pulley adopts belt wheel, gear, rope sheave or sprocket wheel, can cooperate the formation drive connection between described forefinger second driving member, forefinger second driving wheel and the forefinger second driven pulley three.
Displacement under-actuated robot hand apparatus of the present invention; It is characterized in that: described thumb the 3rd transmission mechanism comprises thumb screw mandrel and thumb nut; Described thumb screw mandrel links to each other with the output shaft of thumb second motor; Described thumb nut and thumb screw mandrel form the screw thread drive connection, and the thumb nut links to each other with an end of thumb flexible piece, and the thumb nut is embedded in the thumb middle finger section.
Displacement under-actuated robot hand apparatus of the present invention; It is characterized in that: described forefinger the 4th transmission mechanism comprises forefinger screw mandrel and forefinger nut; Described forefinger screw mandrel links to each other with the output shaft of forefinger second motor; Described forefinger nut and forefinger screw mandrel form the screw thread drive connection, and the forefinger nut links to each other with an end of forefinger flexible piece, and the forefinger nut is embedded in forefinger first middle finger section.
The present invention compared with prior art has the following advantages and the high-lighting effect:
Apparatus of the present invention have 5 independently-controlled fingers and 15 joint freedom degrees, by 10 motor-driven; Each finger structure is similar; All utilize motor, transmission mechanism, flexible piece and spring spare comprehensively to realize the self-adapting grasping effect of finger variable initial configuration: finger grasps attitude to reach good preparation in the joint in the middle of grasping front curve, when grasping, owe the type of drive grasping objects according to self adaptation.Through regulating different finger original configuration, can improve grasp stability better, reduced requirement to sensing and control system.This apparatus structure is compact, integrated level is high, and outward appearance, size and form and action can be stablized and grasp and the object that adapts to difformity, size automatically near staff, are suitable for the anthropomorphic robot.
Description of drawings
Fig. 1 is the front section view of a kind of embodiment of displacement under-actuated robot hand apparatus provided by the invention, and this moment, thumb swung to palmar side.
Fig. 2 is a side outside drawing embodiment illustrated in fig. 1, and this moment, thumb swung to the right opposite of palm.
Fig. 3 is the outside drawing of overlooking embodiment illustrated in fig. 1, and this moment, thumb swung to the right opposite of palm.(double dot dash line partly representes to forward to the thumb of palmar side.)
Fig. 4 is front appearance figure embodiment illustrated in fig. 1.
Fig. 5 is the front appearance figure of thumb embodiment illustrated in fig. 1, the not complete thumb pedestal that draws.
Fig. 6 is the side outside drawing of thumb embodiment illustrated in fig. 1, the not complete thumb pedestal that draws.
Fig. 7 is the front section view of thumb embodiment illustrated in fig. 1, the not complete thumb pedestal that draws.
Fig. 8 is the scheme of installation of the thumb first spring spare embodiment illustrated in fig. 1.
Fig. 9 is the scheme of installation of the thumb second spring spare embodiment illustrated in fig. 1.
Figure 10 is the front appearance figure of forefinger embodiment illustrated in fig. 1.
Figure 11 is the side outside drawing of forefinger embodiment illustrated in fig. 1.
Figure 12 is the front section view of forefinger embodiment illustrated in fig. 1.
Figure 13 is the side sectional view of forefinger embodiment illustrated in fig. 1.
Figure 14 is the scheme of installation of the forefinger first spring spare embodiment illustrated in fig. 1.
Figure 15 is the scheme of installation of the forefinger second spring spare embodiment illustrated in fig. 1.
Figure 16 is the scheme of installation of forefinger the 3rd spring spare embodiment illustrated in fig. 1.
Figure 17 is the cutaway view (do not draw base part) of Figure 12 at the A-A place.
Figure 18, Figure 19, Figure 20, Figure 21 be present embodiment forefinger endways the section of finger and middle finger section be to grasp the process sketch map of big object initial attitude under to stretch attitude, first machine operation in the overall process at this moment.
Figure 22, Figure 23, Figure 24, Figure 25, Figure 26 are that forefinger is the straight angle in second middle finger section and the end section of finger; And first middle finger section grasping the process sketch map of wisp under the preparation attitude of crooked certain angle, second machine operation, first machine operation more earlier in this overall process.
Figure 27, Figure 28, Figure 29, Figure 30 are the process sketch mapes of forefinger grasping objects when only letting second machine operation.
In Fig. 1 to Figure 30:
The 1-palm, the 2-thumb, the 3-forefinger,
The 4-middle finger, 5-is nameless, the 6-little finger of toe,
12-palm joint shaft, 13-palm first gear, 14-palm joint shaft spring spare,
16-palm second gear, 121-palm motor, 122-palm motor reducer,
21-thumb pedestal, 22-thumb first gear, 23-thumb second gear,
The nearly joint shaft of 24-thumb, the 25-thumb second spring spare, 26-thumb driving wheel,
27-thumb middle finger section, 28-thumb driving member, 29-thumb nut,
210-thumb screw mandrel, 211-thumb flexible piece (rope), the 212-thumb first spring spare,
213-thumb driven pulley, 214-thumb joint shaft far away, the 215-thumb end section of finger,
221-thumb first motor, 222-thumb first motor reducer, 223-thumb second motor,
224-thumb second motor reducer, 231-thumb the 3rd transmission mechanism,
232-thumb second transmission mechanism, 233-thumb first transmission mechanism,
31-forefinger pedestal, 32-forefinger first gear, 33-forefinger second gear,
The nearly joint shaft of 34-forefinger, 35-forefinger the 3rd spring spare, 36-forefinger first driving wheel,
37-forefinger first middle finger section, 38-forefinger first driving member, 39-forefinger nut,
310-forefinger screw mandrel, 311-forefinger flexible piece (rope),
The 312-forefinger first spring spare, 313-forefinger first driven pulley, joint shaft in the 314-forefinger,
315-forefinger second middle finger section, 316-forefinger second driving wheel, 317-forefinger second driving member,
318-forefinger second driven pulley, 319-forefinger joint shaft far away, 321-forefinger first motor,
322-forefinger first motor reducer, 323-forefinger second motor,
324-forefinger second motor reducer, 331-forefinger the 4th transmission mechanism, 332-forefinger second transmission mechanism,
333-forefinger first transmission mechanism, 334-forefinger the 3rd transmission mechanism, the 341-forefinger second spring spare,
The 342-forefinger end section of finger,
71,72, the 73-forefinger object that will grasp.
The specific embodiment
Content below in conjunction with accompanying drawing and embodiment further explain concrete structure of the present invention, operation principle.
A kind of embodiment of the displacement under-actuated robot hand apparatus of the present invention's design like Fig. 1, Fig. 2, Fig. 3, shown in Figure 4, comprises palm 1, thumb 2, forefinger 3, middle finger 4, the third finger 5 and little finger of toe 6.The middle finger of present embodiment, the third finger, little finger of toe are identical with the forefinger structure, different just size dimension, operation principle is also consistent.The operation principle of the thumb of present embodiment is identical with the operation principle of forefinger also part.Thumb structure such as Fig. 5, Fig. 6, Fig. 7, Fig. 8 and shown in Figure 9.Forefinger structure such as Figure 10, Figure 11, Figure 12, Figure 13, Figure 14, Figure 15, Figure 16 and shown in Figure 17.
Described thumb 2 comprises the nearly joint shaft of thumb pedestal 21, thumb first motor 221, thumb 24, thumb middle finger section 27, thumb joint shaft far away 214, the thumb end section of finger 215, thumb first transmission mechanism 233, thumb second transmission mechanism 232 and the thumb first spring spare 212; Described thumb first motor 221 is affixed with thumb pedestal 21, and the power shaft of thumb first transmission mechanism 233 links to each other with thumb first motor 331 output shafts, and the output shaft of thumb first transmission mechanism 233 links to each other with the nearly joint shaft 24 of thumb; The nearly joint shaft 24 of described thumb is set in the thumb pedestal 21, and thumb middle finger section 27 is socketed on the nearly joint shaft 24 of thumb, and thumb joint shaft 214 far away is set in the thumb middle finger section 27, and the thumb end section of finger 215 is fixed on the thumb joint shaft 214 far away; The nearly joint shaft 24 of thumb is parallel to each other with thumb joint shaft 214 far away; The power shaft of described thumb second transmission mechanism 232 links to each other with the nearly joint shaft 24 of thumb, and the output shaft of thumb second transmission mechanism 232 links to each other with thumb joint shaft 214 far away, and the nearly joint shaft 24 of thumb is identical with the rotation direction of thumb joint shaft 214 far away; The two ends of the described thumb first spring spare 212 connect thumb middle finger section 27 and the thumb end section of finger 215 respectively.
Described thumb first transmission mechanism 233 comprises thumb first gear 32 and thumb second gear 33; Described thumb first motor 221 is affixed with thumb first gear 32; The thumb first gear 32 formative gear drive connection that is meshed with thumb second gear 33, thumb second gear 33 is fixed on the nearly joint shaft 24 of thumb.
Described forefinger 3 comprises joint shaft 314 in the nearly joint shaft of forefinger pedestal 31, forefinger first motor 321, forefinger 34, forefinger first middle finger section 37, the forefinger, forefinger second middle finger section 315, forefinger joint shaft far away 319, the forefinger end section of finger 342, forefinger first transmission mechanism 333, forefinger second transmission mechanism 332, forefinger the 3rd transmission mechanism 334, the forefinger first spring spare 312 and the forefinger second spring spare 341; Described forefinger first motor 321 is affixed with forefinger pedestal 31, and the power shaft of described forefinger first transmission mechanism 333 links to each other with forefinger first motor 321 output shafts, and the output shaft of described forefinger first transmission mechanism 333 links to each other with the nearly joint shaft 34 of forefinger; The nearly joint shaft 34 of described forefinger is set in the forefinger pedestal 31; Forefinger first middle finger section 37 is socketed on the nearly joint shaft 34 of forefinger; Joint shaft 314 is set in forefinger first middle finger section 37 in the forefinger; Described forefinger second middle finger section 315 is set in the forefinger on the joint shaft 314, and forefinger joint shaft 319 far away is set in forefinger second middle part 315 and refers to that the described forefinger end section of finger 342 is fixed on the forefinger joint shaft 319 far away in the section; Joint shaft 314 and forefinger joint shaft 319 far away are parallel to each other in the nearly joint shaft of forefinger 34, the forefinger; The power shaft of described forefinger second transmission mechanism 332 links to each other with the nearly joint shaft 34 of forefinger, and joint shaft 314 links to each other in the output shaft of forefinger second transmission mechanism 332 and the forefinger; Joint shaft 314 links to each other in the power shaft of described forefinger the 3rd transmission mechanism 334 and the forefinger; The output shaft of forefinger the 3rd transmission mechanism 334 links to each other with forefinger joint shaft 319 far away, and joint shaft 314 is identical with the rotation direction of forefinger joint shaft 319 far away in the nearly joint shaft of forefinger 34, the forefinger; The two ends of the described forefinger first spring spare 312 connect forefinger first middle finger section 37 and forefinger second middle finger section 315 respectively, and the two ends of the forefinger second spring spare 341 connect forefinger second middle finger section 315 and the forefinger end section of finger 342 respectively.
Described forefinger first transmission mechanism 333 comprises forefinger first gear 32 and forefinger second gear 33; Described forefinger first motor 321 is affixed with forefinger first gear 32; The forefinger first gear 32 formative gear drive connection that is meshed with forefinger second gear 33, forefinger second gear 33 is fixed on the nearly joint shaft 34 of thumb.
Described middle finger 4, nameless 5, little finger of toe 6 is identical with forefinger 3 structures, size difference only; Described palm 1 comprises palm skeleton 1, palm motor 121, palm first gear 13, palm second gear 16, palm joint shaft 12; Described palm motor 121 is affixed with palm skeleton 1; The output shaft of palm motor 121 and palm first gear 13 are affixed; Palm first gear 13 and 16 engagements of palm second gear; Palm second gear 16 is fixed on the palm joint shaft 12, and palm joint shaft 12 is set in the palm skeleton 11, and thumb pedestal 21 is fixed on the palm joint shaft 12.
Described forefinger 3 is affixed through forefinger pedestal 31 and palm skeleton 11, described middle finger 4, nameless 5, little finger of toe 6 is affixed with palm skeleton 11 respectively, connected mode is with forefinger 3 unanimities; Each finger of relative position imitation staff between described forefinger 3, middle finger 4, nameless 5, little finger of toe 6, thumb 2 and the palm 1 and the relative position of palm.
Described thumb second transmission mechanism 232 comprises thumb driving wheel 26, thumb driving member 28 and thumb driven pulley 213; Described thumb driving wheel 26 links to each other with the nearly joint shaft 24 of thumb, and thumb driven pulley 213 links to each other with thumb joint shaft 214 far away, and thumb driving member 28 connects thumb driving wheel 26 and thumb driven pulley 213.
Described thumb 2 also comprises thumb second motor 223, thumb the 3rd transmission mechanism 231, thumb flexible piece 211 and the thumb second spring spare 25; Described thumb second motor 223 is affixed with thumb middle finger section 27; The input of thumb the 3rd transmission mechanism 231 links to each other with the output of thumb second motor 223; One end of thumb flexible piece 211 links to each other with the output of thumb the 3rd transmission mechanism 231; The other end of thumb flexible piece 211 connects the thumb end section of finger 215, the described thumb second spring spare 25 as connector be installed in series from thumb nearly joint shaft 24 to thumb second transmission mechanism 232 again to thumb the driving-chain of joint shaft 214 far away.
Described forefinger second transmission mechanism 332 comprises forefinger first driving wheel 36, forefinger first driving member 38 and forefinger first driven pulley 313; Described forefinger first driving wheel 36 links to each other with the nearly joint shaft 34 of forefinger, and joint shaft 314 links to each other in forefinger first driven pulley 313 and the forefinger, and forefinger first driving member 38 connects forefingers first driving wheel 36 and forefinger first driven pulley 313; Described forefinger the 3rd transmission mechanism 334 comprises forefinger second driving wheel 316, forefinger second driving member 317 and forefinger second driven pulley 318; Joint shaft 314 links to each other in described forefinger second driving wheel 316 and the forefinger, and forefinger second driven pulley 318 links to each other with forefinger joint shaft 319 far away, and forefinger second driving member 317 connects forefingers second driving wheel 316 and forefinger second driven pulley 318.Described forefinger 3 also comprises forefinger second motor 323, forefinger the 4th transmission mechanism 331, forefinger flexible piece 311 and forefinger the 3rd spring spare 35; Described forefinger second motor 323 is affixed with forefinger first middle finger section 37; The input of forefinger the 4th transmission mechanism 331 links to each other with the output of forefinger second motor 323; One end of forefinger flexible piece 311 links to each other with the output of forefinger the 4th transmission mechanism 331; The other end of forefinger flexible piece 311 connects forefinger second driving wheel 316, described forefinger the 3rd spring spare 35 as connector be installed in series from forefinger nearly joint shaft 34 to forefinger second transmission mechanism 332 again to the forefinger in the driving-chain of joint shaft 314.
Displacement under-actuated robot hand apparatus of the present invention; Described thumb driving member adopts flat rubber belting, cog belt, tooth bar, tendon rope, steel wire or chain; Described thumb driving wheel adopts belt wheel, gear, rope sheave or sprocket wheel; Described thumb driven pulley adopts belt wheel, gear, rope sheave or sprocket wheel, can cooperate the formation drive connection between described thumb driving member, thumb driving wheel and the thumb driven pulley three.In the present embodiment; Described thumb driving member 28 adopts flat rubber belting; Described thumb driving wheel 26 adopts belt wheels, and described thumb driven pulley 213 adopts belt wheels, can cooperate the formation drive connection between described thumb driving member 28, thumb driving wheel 26 and thumb driven pulley 213 threes.
Displacement under-actuated robot hand apparatus of the present invention; It is characterized in that: described forefinger first driving member adopts flat rubber belting, cog belt, tooth bar, tendon rope, steel wire or chain; Described forefinger first driving wheel adopts belt wheel, gear, rope sheave or sprocket wheel; Described forefinger first driven pulley adopts belt wheel, gear, rope sheave or sprocket wheel, can cooperate the formation drive connection between described forefinger first driving member, forefinger first driving wheel and the forefinger first driven pulley three.In the present embodiment; Described forefinger first driving member 38 adopts flat rubber belting; Described forefinger first driving wheel 36 adopts belt wheel; Described forefinger first driven pulley 313 adopts belt wheels, can cooperate the formation drive connection between described forefinger first driving member 38, forefinger first driving wheel 36 and forefinger first driven pulley 313 threes.
Displacement under-actuated robot hand apparatus of the present invention; It is characterized in that: described forefinger second driving member adopts flat rubber belting, cog belt, tooth bar, tendon rope, steel wire or chain; Described forefinger second driving wheel adopts belt wheel, gear, rope sheave or sprocket wheel; Described forefinger second driven pulley adopts belt wheel, gear, rope sheave or sprocket wheel, can cooperate the formation drive connection between described forefinger second driving member, forefinger second driving wheel and the forefinger second driven pulley three.In the present embodiment; Described forefinger second driving member 317 adopts flat rubber belting; Described forefinger second driving wheel 316 adopts belt wheel; Described forefinger second driven pulley 318 adopts belt wheels, can cooperate the formation drive connection between described forefinger second driving member 317, forefinger second driving wheel 316 and forefinger second driven pulley 318 threes.
In the present embodiment; Described thumb the 3rd transmission mechanism 231 comprises thumb screw mandrel 210 and thumb nut 29; Described thumb screw mandrel 210 links to each other with the output shaft of thumb second motor 223; Described thumb nut 29 forms the screw thread drive connection with thumb screw mandrel 210, and thumb nut 29 links to each other with an end of thumb flexible piece 211, and thumb nut 29 is embedded in the thumb middle finger section 27.
In the present embodiment, described forefinger the 4th transmission mechanism 331 comprises forefinger screw mandrel 310 and forefinger nut 39, and described forefinger screw mandrel 310 links to each other with the output shaft of forefinger second motor 323, and described forefinger nut 39 forms screw thread with forefinger screw mandrel 310
Drive connection, forefinger nut 39 links to each other with an end of forefinger flexible piece 311, and forefinger nut 39 is embedded in forefinger first middle finger section 37.
Displacement under-actuated robot hand apparatus of the present invention is characterized in that: one or more combination in the described thumb first spring spare, the thumb second spring spare, the forefinger first spring spare, the forefinger second spring spare and forefinger the 3rd spring spare employing torsion spring, extension spring, stage clip, sheet spring, leaf spring, clockwork spring, elastic threads and the rubber band.In the present embodiment, the described thumb first spring spare 212, the thumb second spring spare 25, the forefinger first spring spare 312, the forefinger second spring spare 241 and forefinger the 3rd spring spare 35 adopt torsion springs.
Displacement under-actuated robot hand apparatus of the present invention is characterized in that: the combination of one or more in described forefinger flexible piece and thumb flexible piece employing rope, band, muscle, silk and the chain.In the present embodiment, described forefinger flexible piece 311 adopts rope with thumb flexible piece 211.
Introduce the operation principle of present embodiment below in conjunction with accompanying drawing.
(a) operation principle of palm joint shaft 12 rotations is:
Palm motor 121 rotates; Driving palm decelerator 122 rotates; Palm first gear 13 rotates, and palm second gear 16 is rotated, and palm joint shaft 12 is rotated; So drive of the axis rotation of thumb 2 integral body, realized the back and forth sideshake of thumb 2 at palm 1 side and right opposite around palm joint shaft 12.When the needs grasping objects, earlier thumb 2 is swung to palm 1 right opposite, like Fig. 2, shown in Figure 3.When not needing grasping objects, thumb 2 is swung to palm 1 side, shown in the dotted line of Fig. 1, Fig. 4 and Fig. 3.
(b) operation principle of forefinger 3 is:
(b1) if only forefinger first motor 321 work, at this moment, the preparation attitude of joint when stretching in the forefinger as grasping objects soon, grasping objects has a kind of effect of automatic adaptation dimension of object shape.
Forefinger second motor 323 need not be worked; 321 work of forefinger first motor; The process of its grasping objects and principle are: the output shaft of forefinger first motor 321 rotates; Drive the nearly joint shaft 34 of the forefinger that is connected with forefinger second gear 33 through forefinger first gear 32 and rotate, an end of pulling forefinger the 3rd spring spare 35 rotates around the axis of the nearly joint shaft 34 of forefinger, and forefinger first driving wheel 36 of the other end of pulling forefinger the 3rd spring spare 35 rotates.Because the effect of contraction of forefinger first spring spare 312 and the forefinger second spring spare 341; Forefinger first middle finger section 37, forefinger second middle finger section 315 seem that with the forefinger end section of finger 342 affixed is a rigid unitary; Therefore the rotation of forefinger first driving wheel 36 will be through forefinger first driving member 38 and forefinger first driven pulley 313; Preferential making, forefinger first middle finger section 37, forefinger second middle finger section 315 are done as a whole around nearly joint shaft 34 rotations of forefinger with the forefinger end section of finger 342.This process is till forefinger first middle finger section 37 touches the object 71 that finger will grasp, and this moment is shown in figure 19.When forefinger first middle finger section 37 is stopped by object 71 and can't be rotated further; Forefinger first driving wheel 36 is rotated further; Through joint shaft, forefinger second driving wheel in forefinger first driving member, forefinger first driven pulley, the forefinger, pulling forefinger second driven pulley 318, forefinger joint shaft 319 far away and the forefinger end section of finger 342 overcome the distortion elastic force and preferential the making of the forefinger first spring spare: forefinger second middle finger section 315 is done as a whole around joint shaft rotation in the forefinger with the forefinger end section of finger 342.This process is till forefinger second middle finger section 315 touches object 71, and this moment is shown in figure 20.When forefinger second middle finger section 315 is stopped by object 71 and can't be rotated further; Forefinger first driving wheel 36 is rotated further; Through joint shaft, forefinger second driving wheel in forefinger first driving member, forefinger first driven pulley, the forefinger, pulling forefinger second driven pulley 318, forefinger joint shaft 319 far away and the forefinger end section of finger 342 overcome the distortion elastic force of the forefinger second spring spare and make: the forefinger end section of finger 342 is around forefinger joint shaft rotation far away.This process is till the forefinger end section of finger 342 touches object 71, and this moment is shown in figure 21.Forefinger 3 grasps and finishes.
When decontroling object 71; 321 counter-rotatings of forefinger first motor; Drive nearly joint shaft 34 counter-rotatings of forefinger; Forefinger the 3rd spring spare 35 backward rotation, the counter-rotating of pulling forefinger first driving wheel 36 is through joint shaft 314,316 counter-rotatings of forefinger second driving wheel in forefinger first driving member 38 pulling forefingers first driven pulley 313, the forefinger; Through forefinger second driving member 317 pulling forefinger second driven pulley 318, forefinger joint shaft 319 far away and the forefinger end section of finger 342 backward rotation; The distortion of the forefinger second spring spare 341 simultaneously is reduced to zero thereupon gradually, this moment the forefinger end section of finger 342 backward rotation to its with respect to forefinger second middle finger section 315 initially stretch the position, shown in figure 20.Forefinger second driving member 317 will spur forefinger second middle finger section 315 of having stretched and make the as a whole axis backward rotation of joint shaft 314 in forefinger together with the forefinger end section of finger 342 at this moment; The distortion of the forefinger first spring spare 312 simultaneously reduces thereupon gradually; This moment forefinger second middle finger section 315 backward rotation to its with respect to forefinger first middle finger section 37 initially stretch the position, shown in figure 19.Forefinger first driving member 38 will spur the forefinger that stretched first middle finger section 37, forefinger second middle finger section 315, the forefinger end section of finger 342 and do as a whole together around the axis backward rotation of the nearly joint shaft 34 of forefinger; Return to the position of stretching that begins most fully up to forefinger 3, shown in figure 18.
(b2) if the work earlier of forefinger second motor, forefinger first motor is worked again afterwards, and at this moment, the joint makes to have when being about to grasp and points configuration preferably with crooked preparation attitude when being about to grasping objects in the forefinger, helps extracting; Simultaneously, still adopt the identical type of drive of owing with (b1) introduction in the extracting, kept the effect of automatic adaptation body form size.
Forefinger second motor 323 will successively use with forefinger first motor 321 successively.At first only let forefinger second motor 323 work; Its output shaft rotates, and drives 331 work of forefinger the 4th transmission mechanism, is specially here and drives 310 rotations of forefinger screw mandrel; Drive forefinger nut 39 and move down, forefinger nut 39 pulls an end of forefinger flexible piece 311 (being rope here) downwards.The other end of forefinger flexible piece draws changes forefinger second driving wheel; Rotate through forefinger second driving member pulling forefinger second driven pulley, forefinger joint shaft far away and the forefinger end section of finger; But because the restriction of 341 pairs of forefinger second middle finger section of the forefinger second spring spare and the forefinger end section of finger; Forefinger second middle finger section 315 is made as a whole angle of the center line of joint shaft 314 rotation (angle of bend before preparation is grasped) in forefinger together with the forefinger end section of finger 342; This moment, the forefinger first spring spare 312 deformed, and the rotation of forefinger second driving wheel simultaneously makes joint shaft in the forefinger, forefinger first driven pulley rotate, through forefinger first driving member; Pulling forefinger first driving wheel 36 rotates, and forefinger the 3rd spring spare 35 deforms.At this moment, forefinger second motor 323 quits work and no longer rotates, and this moment, forefinger second middle finger section 315 was rotated an angle (angle of bend before preparation is grasped) with the forefinger end section of finger 342, and is shown in figure 23.Can be crooked because forefinger flexible piece (rope) 311 cannot be pulled; Thereby it has played the unilateral constrain effect to the slewing area of forefinger second middle finger section 315 and the forefinger end section of finger 342; Be that forefinger flexible piece 311 has limited forefinger second middle finger section 315 and the forefinger end section of finger 342 can not be toward getting back to the initial position that stretches; But forefinger second middle finger section 315 can continue to rotate forward (this moment, flexible piece was in lax case of bending) with the forefinger end section of finger 342 under other mechanism's effects; Therefore, the state of arthrogryposis is determined as the follow-up initial position of owing to drive grasping movement in forefinger this moment.Three joints of being introduced like (b1) of realizing during forefinger first motor 321 work are afterwards owed to drive the extracting process and still can normally be carried out.Aforementioned process can free adjustment the initial angle of end forefinger second middle finger section 315, the forefinger end section of finger 342 and forefinger first middle finger section 37; In case regulating completion forefinger second motor 323 just quits work; After this transferring forefinger first motor 321 to starts working again; The subsequent rotation grasping objects process of finger is identical with aforementioned (b1) process during forefinger first motor 321 work afterwards, and just the initial attitude of forefinger has become crooked state, like Figure 24, Figure 25 and shown in Figure 26.
When decontroling object 72; Forefinger first motor 321 backward rotation; Drive nearly joint shaft 34 counter-rotatings of forefinger, drive 35 counter-rotatings of forefinger the 3rd spring spare, thereby drive 36 counter-rotatings of forefinger first driving wheel; Through joint shaft 314,316 counter-rotatings of forefinger second driving wheel in forefinger first driving member 38 pulling forefinger first driven pulley 313, the forefinger; Through forefinger second driving member 317 pulling forefinger second driven pulley 318, forefinger joint shaft 319 far away and the forefinger end section of finger 342 backward rotation, arrived the crooked posture position that forefinger flexible piece 311 retrains up to forefinger second middle finger section 315 and the forefinger end section of finger 342, shown in figure 24.Because forefinger second middle finger section 315 is stopped by forefinger first middle finger section 37 with the forefinger end section of finger 342 and can not continue counter-rotating again; This moment, forefinger first motor 321 continued backward rotation; With driving forefinger middle finger section 37, forefinger second middle finger section 315 and the forefinger end section of finger 342 together around the axis backward rotation of the nearly joint shaft 34 of forefinger, forefinger first middle finger section 37 is left object 72 surfaces.Up to returning to state shown in figure 23; Forefinger first motor 321 stalls this moment; Forefinger second motor 323 beginning backward rotation drive forefinger nut 39 through forefinger screw mandrel 310 and move upward, and forefinger flexible piece 311 is no longer to forefinger second middle finger section 315 and 342 effect of contractions of the forefinger end section of finger; So forefinger second middle finger section 315 and the forefinger end section of finger 342 recover to stretch starting position under the effect of the forefinger first spring spare 312, shown in figure 22.
(b3) if forefinger second machine operation only, at this moment, forefinger adopt forefinger second middle finger section with the forefinger end section of finger active remove to contact object
If only be to use forefinger second motor 323 to rotate to let forefinger grasping objects 73.The output shaft of forefinger second motor 323 rotates, and drives forefinger screw mandrel 310 and rotates, and drives forefinger nut 39 and moves down, and forefinger nut 39 is to drop-down forefinger flexible piece (rope) 311.The other end of forefinger flexible piece draws changes forefinger second driving wheel; Rotate through forefinger second driving member pulling forefinger second driven pulley, forefinger joint shaft far away and the forefinger end section of finger; But because the restriction of 341 pairs of forefinger second middle finger section of the forefinger second spring spare and the forefinger end section of finger; Forefinger second middle finger section 315 is done the as a whole axis of joint shaft 314 rotation in forefinger together with the forefinger end section of finger 342, and this moment, the forefinger first spring spare 312 deformed, simultaneously owing to forefinger second middle finger section 315 rotates with the forefinger end section of finger 342; Pulling forefinger first driving wheel 36 rotates, and forefinger the 3rd spring spare 35 deforms.This process is till forefinger second middle finger section 315 is run into object 73, and is shown in figure 28.
At this moment; Under the help of other constraintss (finger, palm or object place desktop etc.), the obstruction that makes forefinger second middle finger section 315 receive object 73 can not be rotated further, and forefinger second motor 323 works on; Driving the forefinger end section of finger 342 rotates; Up to contacting with object 73, the forefinger second spring spare 341 deforms, and this moment, forefinger was firmly grasped object 73.
When decontroling object; 323 counter-rotatings of forefinger second motor; Drive 310 counter-rotatings of forefinger screw mandrel; Forefinger nut 39 rises, and forefinger flexible piece 311 is no longer to forefinger second middle finger section 315 and 342 reverse effect of contractions of the forefinger end section of finger, and the forefinger second spring spare 341 drives 342 counter-rotatings of the forefinger end section of finger and leaves object 73.Afterwards, the forefinger first spring spare 312 drives 315 counter-rotatings of forefinger second middle finger section and leaves object 73.After this, forefinger second motor 323 continues to send out and changes, and returns to the position of initially stretching up to forefinger, and is shown in figure 27.
Thumb has only reduced one than forefinger and has owed to drive the joint, and the extracting principle and the forefinger of middle finger, the third finger, little finger of toe are identical, and the operation principle of each finger is identical, repeats no more.
Under the above-mentioned various situation, this embodiment device proposed by the invention can operate as normal.
Apparatus of the present invention have 5 independently-controlled fingers and 15 joint freedom degrees, by 10 motor-driven; Each finger structure is similar; All utilize motor, transmission mechanism, flexible piece and spring spare comprehensively to realize the self-adapting grasping effect of finger variable initial configuration: finger grasps attitude to reach good preparation in the joint in the middle of grasping front curve, when grasping, owe the type of drive grasping objects according to self adaptation.Through regulating different finger original configuration, can improve grasp stability better, reduced requirement to sensing and control system.This apparatus structure is compact, integrated level is high, and outward appearance, size and form and action can be stablized and grasp and the object that adapts to difformity, size automatically near staff, are suitable for the anthropomorphic robot.

Claims (6)

1. a displacement under-actuated robot hand apparatus comprises thumb (2), forefinger (3), middle finger (4), nameless (5), little finger of toe (6) and palm (1); It is characterized in that:
Described thumb comprises thumb pedestal (21), thumb first motor (221), the nearly joint shaft of thumb (24), thumb middle finger section (27), thumb joint shaft far away (214), the thumb end section of finger (215), thumb first transmission mechanism (233), thumb second transmission mechanism (232) and the thumb first spring spare (212); Described thumb first transmission mechanism comprises thumb first gear (32) and thumb second gear (33); Described thumb first motor and thumb first gear are affixed; Thumb first gear formative gear drive connection that is meshed with thumb second gear, thumb second gear is fixed on the nearly joint shaft of thumb; Described thumb second transmission mechanism comprises thumb driving wheel (26), thumb driving member (28) and thumb driven pulley (213); Described thumb also comprises thumb second motor (223), thumb the 3rd transmission mechanism (231), thumb flexible piece (211) and the thumb second spring spare (25);
Described thumb first motor and thumb pedestal are affixed, and the power shaft of thumb first transmission mechanism links to each other with thumb first motor output shaft, and the output shaft of thumb first transmission mechanism links to each other with the nearly joint shaft of thumb; The nearly joint shaft of described thumb is set in the thumb pedestal, and the thumb middle finger section is socketed on the nearly joint shaft of thumb, and thumb joint shaft far away is set in the thumb middle finger section, and the thumb end section of finger is fixed on the thumb joint shaft far away; Nearly joint shaft of thumb and thumb joint shaft far away are parallel to each other; The power shaft of described thumb second transmission mechanism links to each other with the nearly joint shaft of thumb, and the output shaft of thumb second transmission mechanism links to each other with thumb joint shaft far away, and the nearly joint shaft of thumb is identical with the rotation direction of thumb joint shaft far away; The two ends of the described thumb first spring spare connect thumb middle finger section and the thumb end section of finger respectively;
Described thumb driving wheel links to each other with the nearly joint shaft of thumb, and the thumb driven pulley links to each other with thumb joint shaft far away, and the thumb driving member connects thumb driving wheel and thumb driven pulley; Described thumb second motor and thumb middle finger section are affixed; The input of thumb the 3rd transmission mechanism links to each other with the output of thumb second motor; One end of thumb flexible piece links to each other with the output of thumb the 3rd transmission mechanism; The other end of thumb flexible piece connects the thumb end section of finger, the described thumb second spring spare as connector be installed in series from thumb nearly joint shaft to thumb second transmission mechanism again to the driving-chain of thumb joint shaft far away;
Described forefinger comprises joint shaft (314), forefinger second middle finger section (315), forefinger joint shaft far away (319), the forefinger end section of finger (342), forefinger first transmission mechanism (333), forefinger second transmission mechanism (332), forefinger the 3rd transmission mechanism (334), the forefinger first spring spare (312) and the forefinger second spring spare (341) in forefinger pedestal (31), forefinger first motor (321), the nearly joint shaft of forefinger (34), forefinger first middle finger section (37), the forefinger; Described forefinger second transmission mechanism comprises forefinger first driving wheel (36), forefinger first driving member (38) and forefinger first driven pulley (313); Described forefinger the 3rd transmission mechanism comprises forefinger second driving wheel (316), forefinger second driving member (317) and forefinger second driven pulley (318); Described forefinger also comprises forefinger second motor (323), forefinger the 4th transmission mechanism (331), forefinger flexible piece (311) and forefinger the 3rd spring spare (35); Described forefinger first transmission mechanism comprises forefinger first gear (32) and forefinger second gear (33);
Described forefinger first motor and forefinger pedestal are affixed, and the power shaft of described forefinger first transmission mechanism links to each other with forefinger first motor output shaft, and the output shaft of forefinger first transmission mechanism links to each other with the nearly joint shaft of forefinger; The nearly joint shaft of described forefinger is set in the forefinger pedestal; Forefinger first middle finger section is socketed on the nearly joint shaft of forefinger; Joint shaft is set in forefinger first middle finger section in the forefinger; Forefinger second middle finger section is set in the forefinger on the joint shaft, and forefinger joint shaft far away is set in forefinger second middle finger section, and the forefinger end section of finger is fixed on the forefinger joint shaft far away; Joint shaft and forefinger joint shaft far away are parallel to each other in the nearly joint shaft of forefinger, the forefinger; The power shaft of described forefinger second transmission mechanism links to each other with the nearly joint shaft of forefinger, and joint shaft links to each other in the output shaft of forefinger second transmission mechanism and the forefinger; Joint shaft links to each other in the power shaft of described forefinger the 3rd transmission mechanism and the forefinger, and the output shaft of forefinger the 3rd transmission mechanism links to each other with forefinger joint shaft far away, and joint shaft is identical with the rotation direction of forefinger joint shaft far away in the nearly joint shaft of forefinger, the forefinger; The two ends of the described forefinger first spring spare connect forefinger first middle finger section and forefinger second middle finger section respectively, and the two ends of the forefinger second spring spare connect forefinger second middle finger section and the forefinger end section of finger respectively;
Described forefinger first motor and forefinger first gear are affixed, forefinger first gear formative gear drive connection that is meshed with forefinger second gear, and forefinger second gear is fixed on the nearly joint shaft of forefinger; Described forefinger first driving wheel links to each other with the nearly joint shaft of forefinger, and joint shaft links to each other in forefinger first driven pulley and the forefinger, and forefinger first driving member connects forefinger first driving wheel and forefinger first driven pulley; Joint shaft links to each other in described forefinger second driving wheel and the forefinger, and forefinger second driven pulley links to each other with forefinger joint shaft far away, and forefinger second driving member connects forefinger second driving wheel and forefinger second driven pulley; Described forefinger second motor and forefinger first middle finger section are affixed; The input of forefinger the 4th transmission mechanism links to each other with the output of forefinger second motor; One end of forefinger flexible piece links to each other with the output of forefinger the 4th transmission mechanism; The other end of forefinger flexible piece connects forefinger second driving wheel, described forefinger the 3rd spring spare as connector be installed in series from forefinger nearly joint shaft to forefinger second transmission mechanism again to the forefinger in the driving-chain of joint shaft;
Described middle finger, the third finger, little finger of toe are identical with the forefinger structure; Described palm comprises palm skeleton (11), palm motor (121), palm first gear (13), palm second gear (16), palm joint shaft (12); Described palm motor and palm skeleton are affixed; The output shaft of palm motor and palm first gear are affixed; Palm first gear and palm second gears engaged; Palm second gear is fixed on the palm joint shaft, and the palm joint shaft is set in the palm skeleton, and the thumb pedestal is fixed on the palm joint shaft; Described forefinger is affixed through forefinger pedestal and palm skeleton, and described middle finger, the third finger, little finger of toe are affixed with the palm skeleton respectively, and connected mode is consistent with forefinger; Each finger of relative position imitation staff between described forefinger, middle finger, the third finger, little finger of toe, thumb and the palm and the relative position of palm.
2. displacement under-actuated robot hand apparatus as claimed in claim 1; It is characterized in that: described thumb driving member adopts flat rubber belting, cog belt, tooth bar, tendon rope, steel wire or chain; Described thumb driving wheel adopts belt wheel, gear, rope sheave or sprocket wheel; Described thumb driven pulley adopts belt wheel, gear, rope sheave or sprocket wheel, can cooperate the formation drive connection between described thumb driving member, thumb driving wheel and the thumb driven pulley three.
3. displacement under-actuated robot hand apparatus as claimed in claim 1; It is characterized in that: described forefinger first driving member adopts flat rubber belting, cog belt, tooth bar, tendon rope, steel wire or chain; Described forefinger first driving wheel adopts belt wheel, gear, rope sheave or sprocket wheel; Described forefinger first driven pulley adopts belt wheel, gear, rope sheave or sprocket wheel, can cooperate the formation drive connection between described forefinger first driving member, forefinger first driving wheel and the forefinger first driven pulley three.
4. displacement under-actuated robot hand apparatus as claimed in claim 1; It is characterized in that: described forefinger second driving member adopts flat rubber belting, cog belt, tooth bar, tendon rope, steel wire or chain; Described forefinger second driving wheel adopts belt wheel, gear, rope sheave or sprocket wheel; Described forefinger second driven pulley adopts belt wheel, gear, rope sheave or sprocket wheel, can cooperate the formation drive connection between described forefinger second driving member, forefinger second driving wheel and the forefinger second driven pulley three.
5. displacement under-actuated robot hand apparatus as claimed in claim 1; It is characterized in that: described thumb the 3rd transmission mechanism comprises thumb screw mandrel (210) and thumb nut (29); Described thumb screw mandrel links to each other with the output shaft of thumb second motor; Described thumb nut and thumb screw mandrel form the screw thread drive connection, and the thumb nut links to each other with an end of thumb flexible piece, and the thumb nut is embedded in the thumb middle finger section.
6. displacement under-actuated robot hand apparatus as claimed in claim 1; It is characterized in that: described forefinger the 4th transmission mechanism comprises forefinger screw mandrel (310) and forefinger nut (39); Described forefinger screw mandrel links to each other with the output shaft of forefinger second motor; Described forefinger nut and forefinger screw mandrel form the screw thread drive connection, and the forefinger nut links to each other with an end of forefinger flexible piece, and the forefinger nut is embedded in forefinger first middle finger section.
CN2009100094760A 2009-02-26 2009-02-26 Displacement under-actuated robot hand apparatus Expired - Fee Related CN101486191B (en)

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CN102896639A (en) * 2012-03-08 2013-01-30 中南大学 Thumb mechanism of artificial hand
CN103101055B (en) * 2013-02-28 2016-08-03 何广平 A kind of tendon formula under-driven adaptive multi-finger hand device
CN103231385A (en) * 2013-05-07 2013-08-07 南京航空航天大学 Rope-driving dexterous finger and dexterous hand thereof
CN110740842A (en) * 2017-06-14 2020-01-31 深圳鼎极智慧科技有限公司 Robot hand
CN107584507A (en) * 2017-10-25 2018-01-16 武汉科技大学 A kind of robot delicate
CN107598951A (en) * 2017-10-25 2018-01-19 武汉科技大学 A kind of mechanical hand
CN108161958B (en) * 2017-12-29 2021-08-24 嘉兴学院 Human finger simulating system based on pneumatic muscles

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